Abstract. This paper describes a method for estimating sensor biases by using a lowdimensional Unscented Kalman Filter (UKF) to maintain the positional estimation accuracy of an autonomous vehicle (AV). It is difficult to estimate attitude accurately in a blind situation (such as with no GPS satellites and no landmarks), because of sensor bias. We developed a dead reckoning system for an embedd...

Abstract Aiming at the problem that nonlinearity of tracking state equation and strong noise in measurement process target, a non-cooperative target method geostationary earth orbit based on adaptive memory attenuation UKF is proposed. Firstly, relative motion model constructed, are established. Use adjustment factor to enhance correction effect new estimation, improve adaptability filtering no...

in the several past years, extended kalman filter (ekf) and unscented kalman filter (ukf) havebecame basic algorithm for state-variables and parameters estimation of discrete nonlinear systems.the ukf has consistently outperformed for estimation. sometimes least estimation error doesn't yieldwith ukf for the most nonlinear systems. in this paper, we use a new approach for a two variablesta...

In this note, we illustrate the effect of nonlinear state propagation in the unscented Kalman filter (UKF). We consider a simple nonlinear system, consisting of a two-axis inertial measurement unit. Our intent is to show that the propagation of a set of sigma points through a nonlinear process model in the UKF can produce a counterintuitive (but correct) updated state estimate. We compare the r...

In this paper, the approximation of nonlinear systems using unscented Kalman filter (UKF) is discussed, and the conditions for the convergence of the UKF are derived. The detection of faults from residuals generated by the UKF is presented. As fault detection often reduced to detecting irregularities in the residuals, such as the mean, the local approach, a powerful statistical technique to det...

BACKGROUND Restoring p53 function by antagonizing its interaction with the negative regulator MDM2 is an appealing nongenotoxic approach to treating tumors with wild-type p53. Mutational inactivation of p53 is rare in neuroblastoma tumors at diagnosis and occurs in only a subset of multidrug-resistant neuroblastomas. METHODS The antiproliferative and cytotoxic effect of nutlin-3, a small-mole...

© 2013 Munkhzul Enkhtur et al. 943 Instead of the extended Kalman filter, the unscented Kalman filter (UKF) has been used in nonlinear systems without initial accurate state estimates over the last decade because the UKF is robust against large initial estimation errors. However, in a multirate integrated system, such as an inertial navigation system (INS)/Global Positioning System (GPS) integr...

A decentralized unscented Kalman filter (UKF) method based on a consensus algorithm for multi-area power system dynamic state estimation is presented in this paper. The overall system is split into a certain number of non-overlapping areas. Firstly, each area executes its own dynamic state estimation based on local measurements by using the UKF. Next, the consensus algorithm is required to perf...

In this paper, the problem of estimating the attitude of a micro-nano satellite, obtaining geomagnetic field measurements via a three-axis magnetometer and obtaining angle rate via gyro, is considered. For this application, a QMRPF-UKF master-slave filtering method is proposed, which uses the QMRPF and UKF algorithms to estimate the rotation quaternion and the gyro bias parameters, respectively...

The CDK inhibitor SNS-032 had previously exerted promising anti-neuroblastoma activity via CDK7 and 9 inhibition. ABCB1 expression was identified as major determinant of SNS-032 resistance. Here, we investigated the role of ABCB1 in acquired SNS-032 resistance. In contrast to ABCB1-expressing UKF-NB-3 sub-lines resistant to other ABCB1 substrates, SNS-032-adapted UKF-NB-3 (UKF-NB-3rSNS- 032300n...